CN111573517A - Positioning mechanism and positioning method for moving member - Google Patents
Positioning mechanism and positioning method for moving member Download PDFInfo
- Publication number
- CN111573517A CN111573517A CN202010481366.0A CN202010481366A CN111573517A CN 111573517 A CN111573517 A CN 111573517A CN 202010481366 A CN202010481366 A CN 202010481366A CN 111573517 A CN111573517 A CN 111573517A
- Authority
- CN
- China
- Prior art keywords
- limit switch
- moving member
- distance
- trigger
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present disclosure relates to the field of positioning technologies of moving members, and in particular, to a positioning mechanism and a positioning method of a moving member. A positioning mechanism for a moving member, comprising: a limiting component and a trigger piece; the trigger is used for being placed on the moving component, and the limit assembly comprises a limit switch and a first track; the guiding direction of the first track is consistent with the moving direction of the moving component; the limit switches are arranged in a plurality and are arranged on the first track at preset intervals along the guide direction of the first track; when the moving component sequentially triggers the limit switches, the moving component is positioned through the center distance between two adjacent limit switches, the length of the trigger piece and the distance from the centers of the two adjacent limit switches when the moving component is located at the initial position. This application is provided with a plurality of limit switch, utilizes a plurality of limit switch to the realization is to the accurate positioning of motion component.
Description
Technical Field
The present disclosure relates to the field of positioning technologies of moving members, and in particular, to a positioning mechanism and a positioning method of a moving member.
Background
Referring to fig. 1, a limit switch 100 'is commonly used in the prior art to position the moving member, and specifically, a trigger 102' is connected to the moving member 106 ', and the initial position 103' of the moving member 106 'is measured to be a2 away from the center 101' of the limit switch. In the actual positioning process, when the moving member 106 'moves along with the trigger 102' along the first direction 104 ', because there may be a difference in the size or the connection position of the two, there is a case where the actual position of the moving member 106' does not reach the limit switch 100 'when the trigger 102' triggers the limit switch 100 ', and when calculating, the moving distance of the moving member 106' is considered as a2, i.e. actually the moving member 106 'moves less than a2, and the actual distance that the moving member 106' moves should be a1 on fig. 1.
Similarly, when the moving member 106 ' moves along the second direction 105 ' in cooperation with the trigger 102 ', the moving distance of the moving member 106 ' is calculated to be a2, but the actual moving distance of the moving member 106 ' is greater than a2, and the distance from the moving member 106 ' to the initial position 103 ' should be a3 in fig. 1, so that the measurement result has an error by using the positioning method in the prior art.
Disclosure of Invention
The application aims to provide a positioning mechanism and a positioning method of a moving component, and the technical problem that the positioning error of the positioning method in the prior art is large is solved to a certain extent.
The application provides a positioning mechanism of motion member includes: a limiting component and a trigger piece;
the trigger is used for being placed on the moving component; the limiting assembly comprises a limiting switch and a first track; the guiding direction of the first track is consistent with the moving direction of the moving component; the limit switches are arranged in plurality and are arranged on the first track at preset intervals along the guide direction of the first track;
when the motion component triggers a plurality of limit switches in sequence, the motion component is positioned through the center distance between two adjacent limit switches, the length of the trigger piece and the distance between the centers of two adjacent limit switches when the motion component is positioned at the initial position.
In the above technical solution, further, the control device further comprises a controller, wherein the controller is electrically connected with the limit switch;
the number of the limit switches is two, namely a first limit switch and a second limit switch;
when the trigger piece sequentially triggers the first limit switch and the second limit switch, the controller can judge that the moving component moves along a first direction;
when the trigger triggers the second limit switch and the first limit switch in sequence, the controller can determine that the moving member moves in a second direction.
In the above technical solution, further, the vehicle further includes a second rail, where the second rail is located on one side of the first rail in a third direction;
the second rail is used for placing the moving member, and the moving member can move on the second rail.
The present application also provides a positioning method of the positioning mechanism of the moving member according to the above, including the steps of:
placing the trigger on the moving member, positioning the moving member at the center of the trigger, and placing the moving member at the initial position of the second track;
arranging the first limit switch and the second limit switch on the first track at intervals;
measuring the distance A between the center of the first limit switch and the center of the second limit switch;
measuring the length B of the trigger;
measuring a distance C of the moving member from the initial position to a center between a center of the first limit switch and a center of the second limit switch;
calculating the distance between the moving member and the initial position when the moving member moves along the first direction and the trigger triggers the second limit switch;
and calculating the distance from the moving member to the initial position when the moving member is along the second direction and the trigger triggers the first limit switch.
In the above technical solution, further, the length B of the trigger is greater than the distance a between the center of the first limit switch and the center of the second limit switch.
In the above technical solution, further, the step of calculating the distance from the moving member to the initial position when the moving member moves in the first direction and the trigger triggers the second limit switch includes the steps of:
calculating a distance D of the moving member from the moving member when the moving member moves in the second direction and the trigger triggers the first limit switch according to equation (1):
D＝B-A (1)
calculating a central distance E from the moving component to the center of the first limit switch to the center of the second limit switch when the moving component moves along the first direction and the trigger triggers the second limit switch according to a formula (2);
E＝D/2 (2)
calculating the distance F between the moving component and the initial position when the moving component moves along the first direction and the trigger triggers the second limit switch according to the formula (3)1；
F1＝C-E (3)。
In the above technical solution, further, the step of calculating the distance from the moving member to the initial position when the moving member is along the second direction and the trigger triggers the first limit switch includes the steps of:
calculating a distance D between the moving member and the moving member when the moving member moves in the first direction and the trigger triggers the second limit switch according to the formula (1);
calculating the center distance E from the moving component to the center of the first limit switch to the center of the second limit switch when the moving component moves along the second direction and the trigger triggers the first limit switch according to the formula (2);
calculating the distance F between the moving component and the initial position when the moving component moves along the second direction and the trigger triggers the first limit switch according to the formula (4)2；
F2＝C+E (4)。
In the above technical solution, further, the length B of the trigger is smaller than the distance a between the center of the first limit switch and the center of the second limit switch.
In the above technical solution, further, the step of calculating the distance from the moving member to the initial position when the moving member moves in the first direction and the trigger triggers the second limit switch includes the steps of:
calculating a distance D' of the moving member from the moving member when the moving member moves in the second direction and the trigger triggers the first limit switch, when the moving member moves in the first direction and the trigger triggers the second limit switch, according to equation (5):
D’＝A-B (5)
calculating the center distance E' from the moving component to the center of the first limit switch to the center of the second limit switch when the moving component moves along the first direction and the trigger triggers the second limit switch according to a formula (6);
E’＝D’/2 (6)
calculating the motion component according to the formula (7)Moves along the first direction, and when the trigger triggers the second limit switch, the distance F between the moving component and the initial position3；
F3＝C+E’ (7)。
In the above technical solution, further, the step of calculating the distance from the moving member to the initial position when the moving member is along the second direction and the trigger triggers the first limit switch includes the steps of:
calculating the distance D 'between the moving member and the moving member when the moving member moves along the first direction and the trigger triggers the second limit switch according to the formula (5), wherein the distance D' between the moving member and the moving member when the moving member moves along the second direction and the trigger triggers the first limit switch;
calculating the center distance E' from the center of the moving component to the center of the first limit switch from the center of the second limit switch when the moving component moves along the second direction and the trigger triggers the first limit switch according to the formula (6);
calculating the distance F from the moving component to the initial position when the moving component moves along the second direction and the trigger triggers the first limit switch according to the formula (8)4；
F4＝C-E’ (8)。
Compared with the prior art, the beneficial effect of this application is:
the present application provides a positioning mechanism of a motion member, comprising: a limiting component and a trigger piece;
the trigger is used for being placed on a moving component, and the moving component is located in the center of the trigger;
the limiting assembly comprises a limiting switch and a first track; the number of the limit switches is multiple, and the limit switches are sequentially arranged on the first track at intervals;
when the motion component triggers a plurality of limit switches in sequence, the motion component is positioned through the center distance between two adjacent limit switches, the length of the trigger piece and the distance between the centers of two adjacent limit switches when the motion component is positioned at the initial position.
Specifically, this application is provided with a plurality of limit switch, utilizes a plurality of limit switch to the realization is compared in prior art through a limit switch, realizes the positioning process to the motion component, can produce the error, and the locate mode of this application does not have the error to the realization.
Based on the positioning mechanism of the moving member, the positioning method includes placing the trigger on the moving member, positioning the moving member at the center of the trigger, and then placing the moving member at the initial position of the second track;
arranging the first limit switch and the second limit switch on the first track at intervals;
measuring the distance A between the center of the first limit switch and the center of the second limit switch;
measuring the length B of the trigger;
measuring a distance C of the moving member from the initial position to a center between a center of the first limit switch and a center of the second limit switch;
calculating the distance between the moving member and the initial position when the moving member moves along the first direction and the trigger triggers the second limit switch;
and calculating the distance from the moving member to the initial position when the moving member is along the second direction and the trigger triggers the first limit switch.
Specifically, the moving member can be accurately positioned according to the positioning method, and after the moving member is accurately positioned, the moving member can be set to a running track through a PLC (programmable logic controller) and the like, so that the moving member can be ensured to move according to the set track without errors.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a prior art positioning method;
fig. 2 is a flowchart of a positioning method according to a second embodiment of the present application;
fig. 3 is a schematic diagram of a positioning method according to a second embodiment of the present application when a length B of the trigger is greater than a distance a between a center of the first limit switch and a center of the second limit switch;
fig. 4 is a schematic diagram of a positioning method according to a third embodiment of the present application when a length B of the trigger is smaller than a distance a between a center of the first limit switch and a center of the second limit switch.
Reference numerals:
100' -limit switches; 101' -the center of the limit switch; 102' -a trigger; 103' -initial position; 104' -a first direction; 105' -a second direction; 106' -a motion member; 100-a first limit switch; 101-a second limit switch; 102 — center of first limit switch; 103-center of second limit switch; 104-a first direction; 105-a second direction; 106-third direction; 107-a trigger; 108-initial position; 109-moving member.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments.
The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Example one
The present application provides a positioning mechanism of a motion member, comprising: a limiting component and a trigger 107;
the trigger 107 is adapted to be placed on a moving member 109, and preferably the moving member 109 is located in the center of the trigger 107; the limiting assembly comprises a limiting switch and a first track; the number of the limit switches is multiple, and the limit switches are sequentially arranged on the first track at intervals;
when the moving member 109 sequentially triggers a plurality of limit switches, the moving member 109 is positioned by the center distance between two adjacent limit switches, the length of the trigger 107, and the distance from the centers of two adjacent limit switches when the moving member 109 is located at the initial position 108.
Preferably, the trigger 107 is a flap.
Specifically, the positioning method is provided with a plurality of limit switches, and the plurality of limit switches are utilized, so that the moving component 109 can be accurately positioned, and compared with the prior art that only one limit switch is utilized to position the moving component 106', errors can be generated, and the positioning method has no errors.
In this embodiment, the positioning mechanism of the moving member 109 further includes a controller electrically connected to the limit switch; the number of the limit switches is two, namely a first limit switch 100 and a second limit switch 101; that is, the first limit switch 100 and the second limit switch 101 are both electrically connected to the controller, the first limit switch 100 is close to the initial position 108, and the second limit switch 101 is far from the initial position 108, then the first direction 104 mentioned below refers to a direction from the first limit switch 100 to the second limit switch 101, and the second direction 105 refers to a direction from the second limit switch 101 to the first limit switch 100.
Specifically, during actual use, when the trigger 107 sequentially triggers the first limit switch 100 and the second limit switch 101, the controller can determine that the moving member 109 moves in the first direction 104.
More specifically, during actual use, when the trigger 107 sequentially triggers the second limit switch 101 and the first limit switch 100, the controller can determine that the moving member 109 moves in the second direction 105.
In this embodiment, the positioning mechanism of the moving member 109 further comprises a second track located on one side of the first track in the third direction 106; specifically, the third direction 106 is a vertical direction in a normal use process of the positioning mechanism, that is, the second rail is disposed above or below the first rail in parallel. More specifically, the second rail is used for placing the moving member 109, and the moving member 109 can move on the second rail.
Example two
The second embodiment is an improvement on the basis of the first embodiment, technical contents disclosed in the first embodiment are not described repeatedly, and contents disclosed in the second embodiment also belong to contents disclosed in the first embodiment.
As shown in fig. 2, the present application also provides a positioning method according to the positioning mechanism of the moving member 109, including the steps of:
step 100: placing the trigger 107 on the moving member 109 with the moving member 109 at the center of the trigger 107, and then placing the moving member 109 at the initial position 108 of the second track;
step 200: arranging the first limit switch 100 and the second limit switch 101 on the first track at intervals, wherein the first limit switch 100 is close to the initial position 108 side;
step 300: measuring the distance a between the center 102 of the first limit switch and the center 103 of the second limit switch;
step 400: measuring the length B of the trigger 107;
step 500: measuring the distance C of the moving member 109 from the initial position 108 to the center between the center 102 of the first limit switch and the center 103 of the second limit switch;
step 600: calculating the distance of the moving member 109 from the initial position 108 when the moving member 109 moves in the first direction 104 and the trigger 107 triggers the second limit switch 101;
step 700: the distance of the moving member 109 from the initial position 108 when the moving member 109 is in the second direction 105 and the trigger 107 triggers the first limit switch 100 is calculated.
Specifically, according to the positioning method, the moving member 109 can be accurately positioned, and after the accurate positioning, the moving member 109 can be set by a PLC or the like, so that the moving member 109 can be ensured to move according to the set track without an error.
More specifically, the motion member 109 is preferably any one of a small car or a large car or an industrial robot.
In this embodiment, as shown in connection with fig. 3, when the length B of the trigger 107 is greater than the distance a between the center 102 of the first limit switch and the center 103 of the second limit switch:
the step 600: calculating the distance of the moving member 109 from the initial position 108 when the moving member 109 moves in the first direction 104 (the first direction 104 refers to the direction from the first limit switch 100 to the second limit switch 101) and the trigger 107 triggers the second limit switch 101 comprises the steps of:
step 601: the distance D of the moving member 109 from the moving member 109 when the moving member 109 moves in the second direction 105 and the trigger 107 triggers the first limit switch 100 is calculated according to equation (1) when the moving member 109 moves in the first direction 104 and the trigger 107 triggers the second limit switch 101:
D＝B-A (1)
step 602: calculating a center distance E from the center 102 of the first limit switch to the center 103 of the second limit switch of the moving member 109 when the moving member 109 moves in the first direction 104 and the trigger 107 triggers the second limit switch 101 according to formula (2);
E＝D/2 (2)
step 603: according to the formula (3), the distance F between the moving member 109 and the initial position 108 when the moving member 109 moves along the first direction 104 and the trigger 107 triggers the second limit switch 101 is calculated1；
F1＝C-E (3)。
In this embodiment, the step 700: calculating the distance of the moving member 109 from the initial position 108 when the moving member 109 is in the second direction 105 and the trigger 107 triggers the first limit switch 100 comprises the steps of:
step 701: calculating a distance D of the moving member 109 from the moving member 109 when the moving member 109 moves in the first direction 104 and the trigger 107 triggers the second limit switch 101 when the moving member 109 moves in the second direction 105 and the trigger 107 triggers the first limit switch 100 according to the formula (1);
step 702: according to the formula (2), calculating the center distance E from the center of the moving member 109 to the center of the second limit switch 101 from the center of the first limit switch 100 when the moving member 109 moves along the second direction 105 and the trigger 107 triggers the first limit switch 100;
step 703: according to the formula (4), the distance F of the moving member 109 from the initial position 108 when the moving member 109 moves in the second direction 105 and the trigger 107 triggers the first limit switch 100 is calculated2；
F2＝C+E (4)。
In summary, when the length B of the trigger 107 is greater than the distance a between the center 102 of the first limit switch and the center 103 of the second limit switch, the positions of the moving member 109 when moving along the first direction 104 and the second direction 105 can be accurately calculated through the formula (3) and the formula (4), respectively, so that the further movement trajectory of the moving member 109 can be controlled without an error.
EXAMPLE III
The third embodiment is an improvement on the third embodiment, technical contents disclosed in the third embodiment are not described repeatedly, and the contents disclosed in the third embodiment also belong to the contents disclosed in the third embodiment.
In this embodiment, as shown in connection with fig. 4, when the length B of the trigger 107 is less than the distance a between the center 102 of the first limit switch and the center 103 of the second limit switch:
the step 600: calculating the distance of the moving member 109 from the initial position 108 when the moving member 109 moves in the first direction 104 and the trigger 107 triggers the second limit switch 101 comprises the following steps:
step 601: the distance D' of the moving member 109 from the moving member 109 when the moving member 109 moves in the second direction 105 and the trigger 107 triggers the first limit switch 100 is calculated according to equation (5) when the moving member 109 moves in the first direction 104 and the trigger 107 triggers the second limit switch 101:
D’＝A-B (5)
step 602: according to the formula (6), calculating the center distance E' from the center of the moving member 109 to the center of the second limit switch 101 from the center of the first limit switch 100 when the moving member 109 moves along the first direction 104 and the trigger 107 triggers the second limit switch 101;
E’＝D’/2 (6)
step 603: according to the formula (7), the distance F between the moving member 109 and the initial position 108 when the moving member 109 moves along the first direction 104 and the trigger 107 triggers the second limit switch 101 is calculated3；
F3＝C+E’ (7)。
In this embodiment, the step 700: calculating the distance of the moving member 109 from the initial position 108 when the moving member 109 is in the second direction 105 and the trigger 107 triggers the first limit switch 100 comprises the steps of:
step 701: calculating a distance D' of the moving member 109 from the moving member 109 when the moving member 109 moves in the first direction 104 and the trigger 107 triggers the second limit switch when the moving member 109 moves in the second direction 105 and the trigger 107 triggers the first limit switch 100 according to the formula (5);
step 702: according to the formula (6), calculating the center distance E' from the center of the moving member 109 to the center of the first limit switch 100 from the center of the second limit switch 101 when the moving member 109 moves along the second direction 105 and the trigger 107 triggers the first limit switch 100;
step 703: according to the formula (8), the distance F of the moving member 109 from the initial position 108 when the moving member 109 moves in the second direction 105 and the trigger 107 triggers the first limit switch 100 is calculated4；
F4＝C-E’ (8)。
In summary, when the length B of the trigger 107 is smaller than the distance a between the center 102 of the first limit switch and the center 103 of the second limit switch, the positions of the moving member 109 when moving along the first direction 104 and the second direction 105 can be accurately calculated through the formula (7) and the formula (8), respectively, so that the further movement trajectory of the moving member 109 can be controlled without an error.
The application provides a positioning method is applicable to the work of hoist, specifically is the accurate location to the goods of hoist and mount when hoist and mount goods, at first utilizes the suspension arm of hoist to suspend and connects the goods, then fixes a position (guarantee that the initial position of goods is accurate) to the position of goods, and the suspension arm of last given hoist predetermines direction of motion and movement distance control signal to can make the goods move the assigned position, the goods does not have the error when moving the assigned position like this.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A positioning mechanism for a moving member, comprising: a limiting component and a trigger piece;
the trigger piece is used for being placed on the moving component, and the limit assembly comprises a limit switch and a first track; the guiding direction of the first track is consistent with the moving direction of the moving component; the limit switches are arranged in plurality and are arranged on the first track at preset intervals along the guide direction of the first track;
when the motion component triggers a plurality of limit switches in sequence, the motion component is positioned through the center distance between two adjacent limit switches, the length of the trigger piece and the distance between the centers of two adjacent limit switches when the motion component is positioned at the initial position.
2. The positioning mechanism for a moving member according to claim 1, further comprising a controller electrically connected to the limit switch;
the number of the limit switches is two, namely a first limit switch and a second limit switch;
when the trigger piece sequentially triggers the first limit switch and the second limit switch, the controller can judge that the moving component moves along a first direction;
when the trigger triggers the second limit switch and the first limit switch in sequence, the controller can determine that the moving member moves in a second direction.
3. The positioning mechanism for a moving member according to claim 2, further comprising a second rail that coincides with a guide direction of the first rail;
the second track is used for placing the moving member, and the moving member can move on the second track.
4. A positioning method of a positioning mechanism of a moving member according to claim 3, characterized by comprising the steps of:
placing the trigger on the moving member, positioning the moving member at the center of the trigger, and placing the moving member at the initial position of the second track;
arranging the first limit switch and the second limit switch on the first track at intervals, wherein the first limit switch is close to the initial position side;
measuring the distance A between the center of the first limit switch and the center of the second limit switch;
measuring the length B of the trigger;
measuring a distance C of the moving member from the initial position to a center between a center of the first limit switch and a center of the second limit switch;
calculating the distance between the moving member and the initial position when the moving member moves along the first direction and the trigger triggers the second limit switch;
and calculating the distance from the moving member to the initial position when the moving member is along the second direction and the trigger triggers the first limit switch.
5. The positioning method according to claim 4, wherein a length B of the trigger is greater than a distance A between a center of the first limit switch and a center of the second limit switch.
6. The positioning method according to claim 5, wherein the step of calculating the distance of the moving member from the initial position when the moving member moves in the first direction and the trigger triggers the second limit switch comprises the steps of:
calculating a distance D of the moving member from the moving member when the moving member moves in the second direction and the trigger triggers the first limit switch according to equation (1):
D＝B-A (1)
calculating a central distance E from the moving component to the center of the first limit switch to the center of the second limit switch when the moving component moves along the first direction and the trigger triggers the second limit switch according to a formula (2);
E＝D/2 (2)
calculating the distance F between the moving component and the initial position when the moving component moves along the first direction and the trigger triggers the second limit switch according to the formula (3)1；
F1＝C-E (3)。
7. The positioning method according to claim 6, wherein the step of calculating the distance of the moving member from the initial position when the moving member moves in the second direction and the trigger triggers the first limit switch comprises the steps of:
calculating a distance D between the moving member and the moving member when the moving member moves in the first direction and the trigger triggers the second limit switch according to the formula (1);
calculating a central distance E from the moving component to the center of the first limit switch to the center of the second limit switch when the moving component moves along the second direction and the trigger triggers the first limit switch according to the formula (2);
according to the formula (4), the meterCalculating the distance F between the moving component and the initial position when the moving component moves along the second direction and the trigger triggers the first limit switch2；
F2＝C+E (4)。
8. The positioning method according to claim 4, wherein a length B of the trigger is smaller than a distance A between a center of the first limit switch and a center of the second limit switch.
9. The positioning method according to claim 8, wherein the step of calculating the distance of the moving member from the initial position when the moving member moves in the first direction and the trigger triggers the second limit switch comprises the steps of:
calculating a distance D' of the moving member from the moving member when the moving member moves in the second direction and the trigger triggers the first limit switch, when the moving member moves in the first direction and the trigger triggers the second limit switch, according to equation (5):
D’＝A-B(5)
calculating a central distance E' from the moving component to the center of the first limit switch to the center of the second limit switch when the moving component moves along the first direction and the trigger triggers the second limit switch according to a formula (6);
E’＝D’/2 (6)
calculating the distance F between the moving component and the initial position when the moving component moves along the first direction and the trigger triggers the second limit switch according to the formula (7)3；
F3＝C+E’ (7)。
10. The positioning method according to claim 9, wherein the step of calculating the distance of the moving member from the initial position when the moving member is in the second direction and the trigger triggers the first limit switch comprises the steps of:
calculating the distance D 'between the moving member and the moving member when the moving member moves along the first direction and the trigger triggers the second limit switch according to the formula (5), wherein the distance D' between the moving member and the moving member when the moving member moves along the second direction and the trigger triggers the first limit switch;
calculating the center distance E' from the center of the moving component to the center of the first limit switch from the center of the second limit switch when the moving component moves along the second direction and the trigger triggers the first limit switch according to the formula (6);
calculating the distance F from the moving component to the initial position when the moving component moves along the second direction and the trigger triggers the first limit switch according to the formula (8)4；
F4＝C-E’(8)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010481366.0A CN111573517B (en) | 2020-05-31 | 2020-05-31 | Positioning mechanism and positioning method for moving member |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010481366.0A CN111573517B (en) | 2020-05-31 | 2020-05-31 | Positioning mechanism and positioning method for moving member |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111573517A true CN111573517A (en) | 2020-08-25 |
| CN111573517B CN111573517B (en) | 2022-02-11 |
Family
ID=72119727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010481366.0A Active CN111573517B (en) | 2020-05-31 | 2020-05-31 | Positioning mechanism and positioning method for moving member |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111573517B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576395A (en) * | 2009-06-02 | 2009-11-11 | 中冶长天国际工程有限责任公司 | Position judgment device, system and method of discharging car on cluster bins |
| CN101670981A (en) * | 2009-10-13 | 2010-03-17 | 上海理工大学 | Long rail crane group simultaneous localization system with semi-closed loop position feedback and location method thereof |
| CN109534165A (en) * | 2018-12-12 | 2019-03-29 | 株洲天桥起重机股份有限公司 | A kind of smelting cinder ladle slow cooling processing dispatch control method |
| CN209246694U (en) * | 2018-12-06 | 2019-08-13 | 浙江中悦环保新材料股份有限公司 | A kind of kiln car operation positioning mechanism |
| CN209601470U (en) * | 2019-02-15 | 2019-11-08 | 中信戴卡股份有限公司 | A kind of locating and detecting device and positioning transportation system |
| CN110862015A (en) * | 2019-11-22 | 2020-03-06 | 成都科达光电技术有限责任公司 | Bridge portal crane safety monitoring system |
-
2020
- 2020-05-31 CN CN202010481366.0A patent/CN111573517B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101576395A (en) * | 2009-06-02 | 2009-11-11 | 中冶长天国际工程有限责任公司 | Position judgment device, system and method of discharging car on cluster bins |
| CN101670981A (en) * | 2009-10-13 | 2010-03-17 | 上海理工大学 | Long rail crane group simultaneous localization system with semi-closed loop position feedback and location method thereof |
| CN209246694U (en) * | 2018-12-06 | 2019-08-13 | 浙江中悦环保新材料股份有限公司 | A kind of kiln car operation positioning mechanism |
| CN109534165A (en) * | 2018-12-12 | 2019-03-29 | 株洲天桥起重机股份有限公司 | A kind of smelting cinder ladle slow cooling processing dispatch control method |
| CN209601470U (en) * | 2019-02-15 | 2019-11-08 | 中信戴卡股份有限公司 | A kind of locating and detecting device and positioning transportation system |
| CN110862015A (en) * | 2019-11-22 | 2020-03-06 | 成都科达光电技术有限责任公司 | Bridge portal crane safety monitoring system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111573517B (en) | 2022-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104723362A (en) | Robotic system and detection method | |
| US20090090013A1 (en) | Validating the error map of cmm using calibrated probe | |
| EP2711716A1 (en) | Automatic analytical device and method | |
| KR20130128846A (en) | Performance test apparatus and method for hand of substrate transfer robot | |
| CN111573517B (en) | Positioning mechanism and positioning method for moving member | |
| CN104034300A (en) | Star probe installation angle detection system and star probe installation angle detection method | |
| KR20180092288A (en) | Flow rate measurement system | |
| CN110895133A (en) | Automobile glass spherical surface detection device and detection method thereof | |
| CN110174094A (en) | A kind of laser assisted centralising device for the assembly of big orifice equipment | |
| KR102081538B1 (en) | Apparatus for inspecting head of nuclear reactor | |
| KR101671791B1 (en) | Height checking apparatus for terminal of regulator | |
| CA2920936C (en) | Alignment meter for a rail system | |
| CN105136253B (en) | Magnetostriction liquidometer detection device | |
| CN217193789U (en) | Rotating disc type workpiece detection device | |
| CN211516476U (en) | Combined welding wire frame | |
| CN213632143U (en) | Calibration device for gravity acceleration type wave buoy | |
| KR20130110889A (en) | Performance test apparatus and method for hand of substrate transfer robot | |
| CN209868619U (en) | Positioning adjusting device | |
| US4583297A (en) | Position sensing apparatus | |
| JP5752466B2 (en) | Board inspection equipment | |
| KR20180037657A (en) | Three dimensional automatic safe arrival system for boom of aerial work platform truck | |
| CN208125679U (en) | A kind of spy wheel experimental bench | |
| KR102534402B1 (en) | Vehicle inspection device and article transfer system having the same | |
| BR112016024504B1 (en) | inspection device | |
| CN114012784B (en) | Calibration device and calibration method for robot tool coordinate system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |